Reproduction of swing-up and giant swing motion of Acrobot based on a technique of the horizontal bar gymnast

Henmi, Tomohiro; Chujo, Misuzu; Ohta, Yuichiro; Deng, Mingcong

doi:10.1109/wcica.2014.7053137

Cited by 6 publications

(5 citation statements)

References 9 publications

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“…On the other hand, horizontal-bar exercises of gymnasts are an example of human skills related to underactuated motion. 1,[7][8][9][10] In horizontal-bar exercises, considering athlete's body and horizontal bar as a single system, one can assume that being unable to apply turning force by hands that grasp the bar, a gymnast controls rotation by using the whole body. In so doing, gymnast's movements such as swing-up and giant swing are based on experience and training, and there is an evident difference between proficient athletes and beginners in movement efficiency, smoothness, and gracefulness.…”

Section: Forewordmentioning

confidence: 99%

“…In so doing, gymnast's movements such as swing-up and giant swing are based on experience and training, and there is an evident difference between proficient athletes and beginners in movement efficiency, smoothness, and gracefulness. [7][8][9][10] In this study, we focus on human skills acquired through experience and training; specifically, we use results of numerical analysis of equivalent center of mass (ECM) in actual horizontal-bar techniques to propose new motion control rues for an underactuated linkage robot. In order to apply techniques of humans (multi-link systems) to linkage robots, we consider ECM 7-10 of the whole system to analyze gymnastic skills, and to design control rules.…”

Section: Forewordmentioning

confidence: 99%

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Motion Control of Underactuated Linkage Robot Based on Gymnastic Skill

2018

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In this paper, a reproduction of a swing-up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing-up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing-up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations. K E Y W O R D S equivalent center of mass, giant-swing, horizontal-bar gymnast, swing-up control, underactuated system 42

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Section: Forewordmentioning

confidence: 99%

Section: Forewordmentioning

confidence: 99%

Motion Control of Underactuated Linkage Robot Based on Gymnastic Skill

2018

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“…On the other hand, horizontal‐bar exercises of gymnasts are an example of human skills related to underactuated motion . In horizontal‐bar exercises, considering athlete's body and horizontal bar as a single system, one can assume that being unable to apply turning force by hands that grasp the bar, a gymnast controls rotation by using the whole body.…”

Section: Forewordmentioning

confidence: 99%

“…In horizontal‐bar exercises, considering athlete's body and horizontal bar as a single system, one can assume that being unable to apply turning force by hands that grasp the bar, a gymnast controls rotation by using the whole body. In so doing, gymnast's movements such as swing‐up and giant swing are based on experience and training, and there is an evident difference between proficient athletes and beginners in movement efficiency, smoothness, and gracefulness …”

Section: Forewordmentioning

confidence: 99%

“…In this study, we focus on human skills acquired through experience and training; specifically, we use results of numerical analysis of equivalent center of mass (ECM) in actual horizontal‐bar techniques to propose new motion control rues for an underactuated linkage robot. In order to apply techniques of humans (multi‐link systems) to linkage robots, we consider ECM of the whole system to analyze gymnastic skills, and to design control rules. In so doing, ECM‐based analysis and control rule design are invariant to the link count of controlled object, and can be, therefore, applied to systems with a different link count or extended to other underactuated systems.…”

Section: Forewordmentioning

confidence: 99%

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Motion control of underactuated linkage robot based on gymnastic skill

Henmi

Akiyama

Yamamoto

2018

Electrical Engineering Japan

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In this paper, a reproduction of a swing‐up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing‐up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing‐up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.

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From Gymnastics to Virtual Nonholonomic Constraints: Energy Injection, Dissipation, and Regulation for the Acrobot

Moran-MacDonald,

Maggiore,

Wang

2024

IEEE Trans. Contr. Syst. Technol.

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In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates gymnastics giant motion in an acrobot, and prove that this constraint can inject or dissipate energy based on the sign of a design parameter. The proposed constraint is tested both in simulation and experimentally on a real-world acrobot, demonstrating highly effective energy regulation properties and robustness to a variety of disturbances.

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Reproduction of swing-up and giant swing motion of Acrobot based on a technique of the horizontal bar gymnast

Cited by 6 publications

References 9 publications

Motion Control of Underactuated Linkage Robot Based on Gymnastic Skill

Motion Control of Underactuated Linkage Robot Based on Gymnastic Skill

Motion control of underactuated linkage robot based on gymnastic skill

From Gymnastics to Virtual Nonholonomic Constraints: Energy Injection, Dissipation, and Regulation for the Acrobot

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